DE102006032094A1 - X-ray system with an industrial robot - Google Patents
X-ray system with an industrial robot Download PDFInfo
- Publication number
- DE102006032094A1 DE102006032094A1 DE102006032094A DE102006032094A DE102006032094A1 DE 102006032094 A1 DE102006032094 A1 DE 102006032094A1 DE 102006032094 A DE102006032094 A DE 102006032094A DE 102006032094 A DE102006032094 A DE 102006032094A DE 102006032094 A1 DE102006032094 A1 DE 102006032094A1
- Authority
- DE
- Germany
- Prior art keywords
- ray
- industrial robot
- ray system
- detector
- carrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/10—Application or adaptation of safety means
- A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/548—Remote control of the apparatus or devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37569—Radiography in x and y, x-ray images
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40252—Robot on track, rail moves only back and forth
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45169—Medical, rontgen, x ray
Abstract
Zur weiteren Flexibilisierung in der Röntgendiagnostik ist ein Röntgensystem mit einer Röntgenquelle (10), einem Röntgendetektor (9) und zumindest einem mindestens drei, insbesondere sechs, Drehachsen (A1 bis A6) aufweisenden Industrieroboter (20) vorgesehen, bei dem die Röntgenquelle (10) und/oder der Röntgendetektor (9) unmittelbar oder mittels eines Trägers an dem Industrieroboter (20) angeordnet sind und bei dem der Industrieroboter (20) mobil ausgebildet ist, insbesondere auf einem Gerätewagen (12) angeordnet ist.For further flexibility in X-ray diagnosis, an X-ray system with an X-ray source (10), an X-ray detector (9) and at least one at least three, in particular six, axes of rotation (A1 to A6) having industrial robot (20) is provided, wherein the X-ray source (10) and / or the X-ray detector (9) are arranged directly or by means of a carrier on the industrial robot (20) and in which the industrial robot (20) is designed to be mobile, in particular on a trolley (12) is arranged.
Description
Die Erfindung betrifft ein Röntgensystem mit einer Röntgenquelle, einem Röntgendetektor und zumindest einem mindestens drei, insbesondere sechs Drehachsen aufweisenden Industrieroboter gemäß dem Patentanspruch 1.The The invention relates to an X-ray system with an X-ray source, an x-ray detector and at least one at least three, in particular six axes of rotation having industrial robot according to claim 1.
In
der Röntgenbildgebung
sind Röntgensysteme
bekannt, bei denen für
eine verbesserte Mobilität
ein Wagen mit einem beweglich befestigten C-Bogen vorgesehen ist,
wobei an dem C-Bogen in gegenüberliegender
Anordnung eine Röntgenquelle und
ein Röntgendetektor
angebracht sind. Bei einer Verwendung dieser Röntgenvorrichtung, beispielsweise
im Operationssaal, wird der Wagen zu einem den Patienten aufnehmenden
Untersuchungstisch geschoben. Nach der Herstellung der Röntgenaufnahme
wird der Wagen zur Verbesserung der Zugänglichkeit des Patienten wieder
weg geschoben. Ein derartiges Röntgensystem
ist zum Beispiel aus der
Um
eine möglichst
freie Zugänglichkeit
zum Patienten zu gewährleisten,
ist es aus der
Aus
der nicht vorveröffentlichten
Es ist Aufgabe der vorliegenden Erfindung, ein Röntgensystem zu schaffen, welches eine besonders gute Zugänglichkeit zum Patienten bietet und gleichzeitig flexibel in seinen Anwendungsmöglichkeiten ist.It The object of the present invention is to provide an X-ray system which a particularly good accessibility offers to the patient and at the same time flexible in its application possibilities is.
Die Aufgabe wird erfindungsgemäß gelöst durch ein Röntgensystem mit einer Röntgenquelle, einem Röntgendetektor und zumindest einem mindestens drei, insbesondere sechs, Drehachsen aufweisenden Industrieroboter gemäß Patentanspruch 1; vorteilhafte Ausgestaltungen der Erfindung sind jeweils Gegenstand der Unteransprüche 2 bis 14.The The object is achieved by an x-ray system with an X-ray source, a X-ray detector and at least one at least three, in particular six, axes of rotation having industrial robot according to claim 1; advantageous Embodiments of the invention are each subject of the dependent claims 2 to 14th
Erfindungsgemäß wird durch die mobile Anordnung des mindestens einen mindestens drei, bevorzugt sechs, Drehachsen aufweisenden Industrieroboter, an dem eine Röntgenquelle und/oder ein Röntgendetektor angeordnet ist, ein Röntgensystem geschaffen, das auch kurzfristig an verschiedenen Orten und in beliebigen Positionen einsetzbar ist. So kann das erfindungsgemäße Röntgensystem einfach zu nicht transportfähigen Patienten bewegt werden und insbesondere der sechs Drehachsen aufweisende Industrieroboter besitzt sechs Freiheitsgrade und damit eine besonders hohe Beweglichkeit, so dass auch komplizierteste Aufnahmepositionen eingenommen werden können. Dies wiederum bedeutet weniger unangenehme Umpositionierung für den Patienten und eröffnet einen Zugang zu bisher nicht ausführbaren Anwendungsmöglichkeiten.According to the invention the mobile arrangement of the at least one at least three, preferably six, rotary axes industrial robot, at which an X-ray source and / or an x-ray detector is arranged, created an X-ray system, that also at short notice in different places and in arbitrary positions can be used. Thus, the X-ray system according to the invention is easy to not transportable Patients are moved and in particular of the six axes of rotation Industrial robot has six degrees of freedom and thus a special high mobility, allowing even the most complicated shooting positions can be taken. This in turn means less unpleasant repositioning for the patient and opened an access to previously non-executable applications.
Der Begriff Industrieroboter ist in der Norm EN775 vereinheitlicht. Ein sechs Drehachsen aufweisender Industrieroboter wird auch als 6-Achsen-Vertikalknickarmroboter bezeichnet.Of the The term industrial robot is standardized in the EN775 standard. A six-axis industrial robots is also called 6-axis vertical articulated robot.
In vorteilhafter Weise weist das Röntgensystem zwei unabhängige, mindestens drei, insbesondere sechs, Drehachsen aufweisende Industrieroboter auf, wobei die Röntgenquelle und der Röntgendetektor jeweils an einem Industrieroboter angeordnet sind. Hierdurch ist eine unabhängige, entkoppelte Nutzung von der Röntgenquelle und dem Röntgendetektor möglich, wodurch die Einsatzmöglichkeiten des Röntgensystems erweitert werden. Beispielsweise kann die Röntgenquelle auch mit einem zweiten, zum Beispiel einem portablen, Röntgendetektor genutzt werden. In einem solchen Fall ist eine Systemsteuerung für aufeinander ausgerichtete Bewegungsabläufe verantwortlich.In Advantageously, the X-ray system two independent, at least three, in particular six, axes of rotation having industrial robots on, with the x-ray source and the X-ray detector are each arranged on an industrial robot. This is an independent, decoupled use of the X-ray source and the X-ray detector possible, whereby the possible uses of X-ray system be extended. For example, the X-ray source with a second, for example, a portable, X-ray detector can be used. In such a case, a system control for aligned movements responsible.
Nach einer Ausgestaltung der Erfindung ist der zumindest eine Industrieroboter auf einem Gerätewagen angeordnet. Gerätewagen bieten eine besonders flexible Art der Mobilität, da sie nicht an Führungsmittel gebunden sind und aufwandslos in verschiedenen Räumen oder Gebäuden eingesetzt werden können. In vorteilhafter Weise ist der Gerätewagen automatisch oder manuell verfahrbar, insbesondere mittels eines Motors.To An embodiment of the invention is the at least one industrial robot on a trolley arranged. trolley offer a particularly flexible way of mobility, as they do not have to guide means are tied and used effortlessly in different rooms or buildings can be. Advantageously, the trolley is automatic or manual movable, in particular by means of a motor.
Nach einer weiteren Ausgestaltung der Erfindung sind die Röntgenquelle und der Röntgendetektor gemeinsam mittels eines Trägers an einer Hand des Industrieroboters angeordnet. So ist gewährleistet, dass die Röntgenquelle und der Röntgendetektor konstant genau aufeinander ausgerichtet sind, wodurch aufwändige Nachjustagen entfallen und eine rasche Röntgenuntersuchung mit hoher Qualität gewährleistet ist. Nach besonders vorteilhaften Ausgestaltungen der Erfindung wird der Träger von einem C-Bogen oder einem U-Bügel gebildet und ist die Röntgenquelle an einem Ende des Trägers und ist der Röntgendetektor an dem jeweils gegenüberliegenden Ende des Trägers angeordnet.According to a further embodiment of the invention, the X-ray source and the X-ray detector are arranged together by means of a carrier on a hand of the industrial robot. This ensures that the X-ray source and the X-ray detector are constantly aligned with each other, eliminating the need for expensive readjustments and ensuring a high-quality, rapid X-ray examination. According to particularly advantageous embodiments of the invention, the carrier of a C-arm or a U-shaped bracket is formed and the X-ray source at one end of the carrier and the X-ray detector is disposed at the respective opposite end of the carrier.
In vorteilhafter Weise weist das Röntgensystem ein Kollisionsüberwachungssystem und zumindest einen Kollisionssensor zur Überwachung der Bewegungen des Industrieroboters auf. Hierdurch wird die Sicherheit des Röntgensystems in Bezug auf Verletzungsgefahr des Bedienpersonals und Gefahr von Beschädigungen von Gerätekomponenten erhöht.In Advantageously, the X-ray system a collision monitoring system and at least one collision sensor for monitoring the movements of the Industrial robot on. This will increase the safety of the X-ray system in terms of risk of injury to operating personnel and risk of damage of device components elevated.
In vorteilhafter Weise weist das Röntgensystem ein Stabilitätsüberwachungssystem und zumindest einen Stabilitätssensor auf, durch den die Stabilität des Gerätewagens überprüfbar ist. Dadurch werden Beschädigungen verhindert, die durch Umfallen oder Kippen des Röntgensystems oder des Industrieroboters zustande kommen können.In Advantageously, the X-ray system a stability monitoring system and at least one stability sensor on, by the stability of the equipment cart is verifiable. This will damage prevented by falling over or tilting of the X-ray system or the industrial robot can come about.
Die Erfindung sowie weitere vorteilhafte Ausgestaltungen gemäß Merkmalen der Unteransprüche werden im Folgenden anhand schematisch dargestellter Ausführungsbeispiele in der Zeichnung näher erläutert, ohne dass dadurch eine Beschränkung der Erfindung auf diese Ausführungsbeispiele erfolgt; es zeigen:The Invention and further advantageous embodiments according to features the subclaims become below with reference to schematically illustrated embodiments explained in the drawing, without that's a limitation the invention to these embodiments he follows; show it:
Die
Röntgenquelle
Der
mobile Industrieroboter
Nach
einer Ausgestaltung der Erfindung weisen der Industrieroboter
Insbesondere
auch bei Röntgensystemen, die
zwei Industrieroboter
Nach
einer weiteren Ausgestaltung der Erfindung weisen der Industrieroboter
Es
kann auch vorgesehen sein, dass Untersuchungsräume Verankerungsvorrichtungen
für den Gerätewagen
Zur
Bedienung des Röntgensystems
können durch
einen Nutzer mittels des User-Interfaces
Neben dem Vertikal-Knickarmroboter kann zum Beispiel auch ein Schwenkarmroboter vorgesehen sein. Dieser weist in der Regel vier Freiheitsgrade auf, drei Drehachsen und eine Linearachse. Ebenso kann ein Horizontal-Knickarmroboter verwendet werden.Next For example, a swivel arm robot can also be used by the vertical articulated robot be provided. This usually has four degrees of freedom, three axes of rotation and one linear axis. Likewise, a horizontal articulated robot be used.
Die Erfindung lässt sich in folgender Weise kurz zusammenfassen: Zur weiteren Flexibilisierung in der Röntgendiagnostik ist ein Röntgensystem mit einer Röntgenquelle, einem Röntgendetektor und zumindest einem mindestens drei, bevorzugt sechs Drehachsen aufweisenden Industrieroboter vorgesehen, bei dem die Röntgenquelle und/oder der Röntgendetektor unmittelbar oder mittels eines Trägers an dem Industrieroboter angeordnet sind, und bei dem der Industrieroboter mobil ausgebildet ist, insbesondere auf einem Gerätewagen angeordnet ist.The Invention leaves to summarize briefly in the following way: For further flexibility in X-ray diagnostics is an x-ray system with an X-ray source, an x-ray detector and at least one at least three, preferably six axes of rotation provided with industrial robot, in which the X-ray source and / or the X-ray detector directly or by means of a carrier on the industrial robot are arranged, and in which the industrial robot designed mobile is, especially on a trolley is arranged.
Claims (14)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006032094A DE102006032094A1 (en) | 2006-07-11 | 2006-07-11 | X-ray system with an industrial robot |
JP2007179749A JP5464796B2 (en) | 2006-07-11 | 2007-07-09 | X-ray system with industrial robot |
US11/827,015 US7748900B2 (en) | 2006-07-11 | 2007-07-10 | X-ray system with an industrial robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006032094A DE102006032094A1 (en) | 2006-07-11 | 2006-07-11 | X-ray system with an industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102006032094A1 true DE102006032094A1 (en) | 2008-01-17 |
Family
ID=38825171
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102006032094A Withdrawn DE102006032094A1 (en) | 2006-07-11 | 2006-07-11 | X-ray system with an industrial robot |
Country Status (3)
Country | Link |
---|---|
US (1) | US7748900B2 (en) |
JP (1) | JP5464796B2 (en) |
DE (1) | DE102006032094A1 (en) |
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Also Published As
Publication number | Publication date |
---|---|
US7748900B2 (en) | 2010-07-06 |
JP5464796B2 (en) | 2014-04-09 |
JP2008018240A (en) | 2008-01-31 |
US20080013692A1 (en) | 2008-01-17 |
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